CN113567360B - A color difference gloss detection device compatible with multiple products and its operation method - Google Patents

A color difference gloss detection device compatible with multiple products and its operation method Download PDF

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CN113567360B
CN113567360B CN202111123170.5A CN202111123170A CN113567360B CN 113567360 B CN113567360 B CN 113567360B CN 202111123170 A CN202111123170 A CN 202111123170A CN 113567360 B CN113567360 B CN 113567360B
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CN113567360A (en
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秦应化
蔡小明
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Suzhou Dinnar Automation Technology Co Ltd
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    • G—PHYSICS
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Abstract

本发明公开了一种兼容多款产品的色差光泽检测装置及其操作方法，包括以下步骤，S100、扫码装置对顶/侧工件进行扫码操作，进行信息读取与绑定；再将绑定后的顶/侧工件送至上料装置；S200、上料机构于移载位将顶/侧工件送至移载机构；移载机构带动顶/侧工件运动至色差检测位与光泽检测位，色差检测装置与光泽检测装置分别对其进行检测并将检测数据上传至控制系统，控制系统根据数据库内的等级筛分信息对检测后的顶/侧工件进行筛分；移载机构再带动顶/侧工件运动至下料位；S300、下料机械手根据控制系统的筛分结果将顶/侧工件送至对应的下料传送带；本发明可以同批次对不同工件进行外观检测，并且在提高了检测效率的同时，大大减少了检测时间。

Figure 202111123170

The invention discloses a color difference and gloss detection device compatible with multiple products and an operation method thereof. The fixed top/side workpieces are sent to the loading device; S200, the loading mechanism sends the top/side workpieces to the transfer mechanism at the shifting position; the transfer mechanism drives the top/side workpieces to move to the color difference detection position and the gloss detection position, The color difference detection device and the gloss detection device respectively detect them and upload the detection data to the control system, and the control system sieves the detected top/side workpieces according to the grade screening information in the database; the transfer mechanism drives the top/side workpieces. The side workpiece moves to the unloading position; S300, the unloading manipulator sends the top/side workpiece to the corresponding unloading conveyor according to the screening result of the control system; the invention can perform appearance inspection on different workpieces in the same batch, and improves the At the same time of detection efficiency, the detection time is greatly reduced.

Figure 202111123170

Description

Color difference and gloss detection device compatible with multiple products and operation method thereof
Technical Field
The invention relates to the technical field of defect detection and identification, in particular to a color difference gloss detection device compatible with multiple products and an operation method thereof.
Background
The industrial appearance defect detection technology relates to a plurality of scientific technologies such as optics, electronic informatics, robot control, computer vision and the like, and can automatically detect the appearance defects of products in the industrial production process. At present, the industrial appearance defect image detection technology is widely applied to the industries of PCB, textile, printed matter, medicine and the like.
The traditional manual inspection means has the defects of multiple persons, high cost and low efficiency, and particularly relates to a plurality of small and precise parts which need to be subjected to appearance detection and defective products removal when being processed or used. At present, the appearance detection and identification of these parts are mostly performed by manual eyes, but because these fine and precise parts are small in size and large in quantity, and the parts are generally different in size, and the appearance of the parts is basically indistinguishable from each other (for example, circular ring-shaped parts), a manual detection or a manual detection combined with auxiliary equipment requires a high degree of concentration for a long time, and along with the supply of light sources, long-time work is accompanied, workers are prone to distract or various careless mistakes due to visual fatigue, and finally the detection quality cannot be ensured, and the work efficiency is low.
Disclosure of Invention
The invention aims to provide a color difference gloss detection device compatible with multiple products and an operation method thereof.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows: a color difference and gloss detection device compatible with various products, which comprises a horizontally arranged working platform, wherein the working platform is provided with a color difference and gloss detection device,
the feeding mechanism comprises a code scanning device and two feeding devices; the feeding device comprises a feeding track, a carrier and a feeding driving device; two sides and the top of the carrier are respectively provided with a side adsorption station and a top adsorption station, the side adsorption station is used for feeding side workpieces, and the top adsorption station is used for feeding top workpieces;
the detection channel comprises a transfer mechanism for transporting the side workpiece and the top workpiece and a detection mechanism erected above the transfer mechanism, wherein the transfer mechanism is sequentially provided with a transfer position, a color difference detection position, a gloss detection position and a blanking position along the transmission direction; the transfer mechanism comprises a first transfer device and a second transfer device which have the same structure and are arranged oppositely, and a third transfer device arranged between the first transfer device and the second transfer device, wherein the third transfer device corresponds to the first transfer device and the second transfer device;
the detection mechanism comprises a fixed frame, a lifting installation seat and a driving device, wherein the fixed frame is provided with a sliding rail on the front wall surface and the rear wall surface, the lifting installation seat is connected with the sliding rail in a sliding way, the driving device drives the lifting installation seat to reciprocate, and the lifting end of each lifting installation seat is provided with a chromatic aberration detection device and a gloss detection device respectively;
the blanking mechanism comprises a blanking manipulator and a plurality of blanking conveying belts, and the blanking manipulator is used for taking and placing side workpieces and top workpieces to the blanking conveying belts.
Preferably, the first transfer device includes a first transfer rail, a first transfer platform, and a first transfer driving device; the first shifting platform is provided with a first clamping mechanism for clamping and adsorbing the top workpiece and a second clamping mechanism for clamping and adsorbing the side workpiece, and the second clamping mechanisms are positioned on two sides of the first clamping mechanism;
the first clamping mechanism comprises a first lifting mechanism and a first vacuum sucker, the first lifting mechanism drives the first vacuum sucker to do lifting motion, and vacuum suction nozzles are respectively arranged on two sides of the first vacuum sucker and used for sucking two top workpieces; the second clamping mechanism comprises a second horizontal moving mechanism, a second rotating mechanism and a second vacuum chuck, the second horizontal moving mechanism drives the second rotating mechanism to do horizontal reciprocating motion, and the second rotating mechanism drives the second vacuum chuck to selectively do autorotation motion.
Preferably, the third transfer device includes a third transfer rail, a third transfer platform, and a third transfer driving device; and the four corners of the third transfer platform are respectively provided with the second clamping mechanisms.
Preferably, sensors are arranged at the color difference detection device and the gloss detection device.
Preferably, the work platform is of marble material.
The application also claims an operation method of the color difference gloss detection device compatible with multiple products, which comprises the following steps,
the detection device comprises a horizontally arranged working platform, the working platform is provided with a detection device,
the feeding mechanism comprises a code scanning device and two feeding devices; the feeding device comprises a feeding track, a carrier and a feeding driving device; two sides and the top of the carrier are respectively provided with a side adsorption station and a top adsorption station, the side adsorption station is used for feeding side workpieces, and the top adsorption station is used for feeding top workpieces;
the detection channel comprises a transfer mechanism and a detection mechanism erected above the transfer mechanism; the transfer mechanism comprises a first transfer device and a second transfer device which have the same structure and are arranged oppositely, and a third transfer device arranged between the first transfer device and the second transfer device, wherein the third transfer device corresponds to the first transfer device and the second transfer device;
the detection mechanism comprises a fixed frame, a lifting installation seat and a driving device, wherein the fixed frame is provided with a sliding rail on the front wall surface and the rear wall surface, the lifting installation seat is connected with the sliding rail in a sliding way, the driving device drives the lifting installation seat to reciprocate, and the lifting end of each lifting installation seat is provided with a chromatic aberration detection device and a gloss detection device respectively;
the blanking mechanism comprises a blanking manipulator and a plurality of blanking conveying belts, and the blanking manipulator is used for taking and placing the side workpiece and the top workpiece to the blanking conveying belts;
the operation method comprises the following steps of,
s100, a code scanning device scans a code of the top/side workpiece, and information reading and binding are carried out; then the bound top/side workpiece is sent to a feeding device;
s200, the feeding mechanism is arranged at the transfer position to send the top/side workpiece to the transfer mechanism; the moving mechanism drives the top/side workpiece to move to a color difference detection position and a gloss detection position, the color difference detection device and the gloss detection device respectively detect the top/side workpiece and upload detection data to the control system, and the control system screens the detected top/side workpiece according to grade screening information in the database; the transferring mechanism drives the top/side workpiece to move to a discharging position;
and S300, the blanking manipulator sends the top/side workpiece to a corresponding blanking conveyor belt according to the screening result of the control system.
Preferably, the S200 includes the steps of:
s211, the two loading devices are located at the transfer positions and simultaneously carry out loading operation on the front sides of the first transfer device, the second transfer device and the third transfer device;
s212, the transfer mechanism drives the front sides of the first transfer device, the second transfer device and the third transfer device to move to a color difference detection position for color difference detection; simultaneously, the two loading devices are positioned at the transfer positions and simultaneously carry out loading operation on the rear sides of the first transfer device, the second transfer device and the third transfer device;
s213, the transfer mechanism drives the front sides of the first transfer device, the second transfer device and the third transfer device to move to a gloss detection position for gloss detection; simultaneously, the rear sides of the first transfer device, the second transfer device and the third transfer device move to the color difference detection position and perform color difference detection;
s214, the transfer mechanism drives the front sides of the first transfer device, the second transfer device and the third transfer device to move to a blanking position for blanking operation; simultaneously, the rear sides of the first transfer device, the second transfer device and the third transfer device move to a gloss detection position for gloss detection;
s215, after the transfer mechanism drives the front sides of the first transfer device, the second transfer device and the third transfer device to complete the blanking operation, the rear sides of the first transfer device, the second transfer device and the third transfer device also move to the blanking position to perform the blanking operation;
s216, the transferring mechanism drives the first transferring device, the second transferring device and the third transferring device to return to the transferring position, and S211-S216 are repeated.
Preferably, the S200 includes the steps of:
s221, sequentially carrying out loading operation on the front sides of the first transfer device, the second transfer device and the third transfer device and the rear sides of the first transfer device, the second transfer device and the third transfer device at the transfer positions by the two loading devices;
s222, sequentially moving the first transfer device, the second transfer device and the third transfer device; the color difference detection device sequentially detects the color difference of the front sides of the first transfer device, the second transfer device and the third transfer device;
s223, when the gloss detection device sequentially detects the gloss on the front sides of the first transfer device, the second transfer device and the third transfer device, the color difference detection device sequentially detects the color difference on the rear sides of the first transfer device, the second transfer device and the third transfer device;
s224, when the front sides of the first transfer device, the second transfer device and the third transfer device sequentially reach a blanking position for blanking, the gloss detection device sequentially performs gloss detection on the rear sides of the first transfer device, the second transfer device and the third transfer device;
s225, enabling the rear sides of the first transfer device, the second transfer device and the third transfer device to reach a blanking position in sequence and blanking in sequence; and returning to the transfer position for loading operation as soon as the first transfer device, the second transfer device and the third transfer device finish the unloading operation.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. the invention can simultaneously detect different types of workpieces, can realize one-time detection of the same process of a plurality of workpieces, improves the detection efficiency, has compact layout of the whole device and saves the occupied space of equipment;
2. the second clamping mechanism can realize 360-degree rotation, can perform multi-surface detection at the same station, can be suitable for detection of large-batch small precise parts, and has high detection efficiency, high speed and accurate detection data;
3. the sensor can automatically adjust the angle of the second clamping mechanism, and can compensate the angle and the height when the angle has angle deviation, so that manual operation is omitted, and the adjustment error is reduced;
4. the waiting working time of the two feeding devices, the first transfer device, the second transfer device, the third transfer device, the color difference detection device and the gloss detection device is greatly reduced, particularly the utilization efficiency of the color difference detection device and the gloss detection device is greatly increased, and the detection and reset time is greatly reduced;
5. the method is simple and easy to implement, greatly reduces the detection cost, and is suitable for popularization and application.
Drawings
FIG. 1 is a schematic structural view of example 1 of the present invention;
FIG. 2 is a schematic structural diagram of a transfer mechanism according to the present invention;
FIG. 3 is a schematic structural diagram of a loading device according to the present invention;
FIG. 4 is a schematic structural view of a first transfer device according to the present invention;
FIG. 5 is a schematic structural diagram of the detecting mechanism of the present invention;
fig. 6 is a schematic structural view of the blanking manipulator of the present invention.
Wherein: 1. a working platform; 2. a code scanning device; 3. a carrier; 4. a side adsorption station; 5. a top adsorption station; 6. a first transfer device; 7. a second transfer device; 8. a third transfer device; 9. a lifting mounting seat; 10. a color difference detection device; 11. a gloss detection device; 12. a sensor; 13. a first clamping mechanism; 14. a second clamping mechanism; 15. a first vacuum chuck; 16. a second vacuum chuck; 17. a blanking conveyor belt; 18. a feeding manipulator; 19. a positive adsorption nozzle; 20. a side adsorption nozzle.
Detailed Description
The invention is further described with reference to the following figures and examples.
Example 1
Referring to fig. 1-5, a color difference gloss detection device compatible with multiple products is characterized by comprising a horizontally arranged working platform 1, wherein the working platform 1 is provided with a color difference gloss detection device,
the feeding mechanism comprises a code scanning device 2 and two feeding devices; the feeding device comprises a feeding track, a carrier 3 and a feeding driving device; two sides and the top of the carrier 3 are respectively provided with a side adsorption station 4 and a top adsorption station 5, the side adsorption station 4 is used for loading side workpieces, and the top adsorption station 5 is used for loading top workpieces;
the detection channel comprises a transfer mechanism and a detection mechanism erected above the transfer mechanism; the transfer mechanism comprises a first transfer device 6 and a second transfer device 7 which have the same structure and are oppositely arranged, and a third transfer device 8 arranged between the first transfer device 6 and the second transfer device 7, wherein the third transfer device 8 corresponds to the first transfer device 6 and the second transfer device 7; the first transfer device 6 comprises a first transfer rail, a first transfer platform and a first transfer driving device;
the first shifting platform is provided with a first clamping mechanism 13 for clamping and adsorbing the top workpiece and a second clamping mechanism 14 for clamping and adsorbing the side workpiece, and the second clamping mechanisms 14 are positioned at two sides of the first clamping mechanism 13; the first clamping mechanism 13 comprises a first lifting mechanism and a first vacuum chuck 15, the first lifting mechanism drives the first vacuum chuck 15 to do lifting motion, and vacuum suction nozzles are respectively arranged on two sides of the first vacuum chuck 15 and used for sucking two top workpieces; the second clamping mechanism 14 comprises a second horizontal moving mechanism, a second rotating mechanism and a second vacuum chuck 16, the second horizontal moving mechanism drives the second rotating mechanism to do horizontal reciprocating motion, the second rotating mechanism drives the second vacuum chuck 16 to selectively do self-rotation motion, the second vacuum chuck 16 drives the side workpiece to rotate, and the second clamping mechanism 14 can realize the detection of four side surfaces of the side workpiece by matching with the detection mechanism;
the third transfer device 8 includes a third transfer rail, a third transfer platform, and a third transfer driving device; the four corners of the third transfer platform are respectively provided with the second clamping mechanisms 14;
in one embodiment of the present invention, when the first transfer device 6, the second transfer device 7, and the third transfer device 8 are in the initial state, a plurality of first gripping mechanisms 13 and second gripping mechanisms 14 provided on the first transfer device 6, the second transfer device 7, and the third transfer device 8 are horizontally arranged in two rows;
in another embodiment of the present invention, the first gripping mechanism 13 and the second gripping mechanism 14 provided in the first transfer device 6, the second transfer device 7, and the third transfer device 8 are provided alternately;
the detection mechanism comprises a fixed frame, a lifting installation seat 9 and a driving device, wherein the fixed frame is provided with a sliding rail on the front wall surface and the rear wall surface, the lifting installation seat 9 is connected with the sliding rail in a sliding way, the driving device drives the lifting installation seat 9 to reciprocate, and a color difference detection device 10 and a gloss detection device 11 are respectively arranged at the lifting end of each lifting installation seat 9; the sensors 12 are arranged at the color difference detection device 10 and the gloss detection device 11, and by capturing two ends of the side workpiece and comparing the two ends with a set line, whether the side workpiece rotates to a set position can be known, so that the second clamping mechanism 14 can perform angle compensation adjustment on the side workpiece; work platform 1 is the marble material, and the testing result is more accurate.
The blanking mechanism comprises a blanking manipulator 18 and a plurality of blanking conveyor belts 17, wherein the blanking manipulator 18 is used for taking and placing side workpieces and top workpieces to the blanking conveyor belts 17; the blanking manipulator 18 comprises a rotary mechanical arm, a positive adsorption nozzle 19 and a side adsorption nozzle 20, wherein the positive adsorption nozzle 19 is used for blanking a top workpiece, and the side adsorption nozzle 20 is used for blanking a side workpiece; the rotary mechanical arm comprises a first rotating device rotating along the vertical Z-axis direction, and the output end of the first rotating device is provided with a second rotating device rotating along the horizontal X direction; the positive adsorption nozzle 19 and the side adsorption nozzle 20 are respectively arranged on the side face and the bottom face of the output end of the second rotating device, so that simultaneous blanking or sequential blanking of a top workpiece and a side workpiece can be realized, the angle of the rotating mechanical arm does not need to be frequently adjusted, and the time is saved.
Example 2
A color difference and gloss detection device compatible with multiple products is characterized in that a transfer mechanism is sequentially provided with a transfer position, a color difference detection position, a gloss detection position and a discharging position along a transmission direction;
which specifically comprises the following operation method,
s100, a code scanning device scans a code of the top/side workpiece, and information reading and binding are carried out; then the bound top/side workpiece is sent to a feeding device;
s200, the feeding mechanism is arranged at the transfer position to send the top/side workpiece to the transfer mechanism; the moving mechanism drives the top/side workpiece to move to a color difference detection position and a gloss detection position, the color difference detection device and the gloss detection device respectively detect the top/side workpiece and upload detection data to the control system, and the control system screens the detected top/side workpiece according to grade screening information in the database; the transferring mechanism drives the top/side workpiece to move to a discharging position;
and S300, the blanking manipulator sends the top/side workpiece to a corresponding blanking conveyor belt according to the screening result of the control system.
Example 3
This embodiment mainly introduces a specific operation method of S200 in embodiment 2, which includes the following steps:
s211, sequentially feeding the workpiece 1, the workpiece 2, the workpiece 3, the workpiece 4, the workpiece 5 and the workpiece 6 from left to right to the front sides of the first transfer device, the second transfer device and the third transfer device at the transfer position by the two feeding devices;
s212, the moving and carrying mechanism drives the workpiece 1, the workpiece 2, the workpiece 3, the workpiece 4, the workpiece 5 and the workpiece 6 to move to a chromatic aberration detection position for chromatic aberration detection, and a chromatic aberration monitoring device sequentially detects from left to right; meanwhile, the two feeding devices are arranged at the transfer positions to simultaneously feed the workpieces 7, 8, 9, 10, 11 and 12 to the rear sides of the first transfer device, the second transfer device and the third transfer device;
s213, the moving and carrying mechanism drives the workpiece 1, the workpiece 2, the workpiece 3, the workpiece 4, the workpiece 5 and the workpiece 6 to move to a gloss detection position for gloss detection, and the gloss detection device sequentially detects from left to right; simultaneously, the rear sides of the first transfer device, the second transfer device and the third transfer device move to the color difference detection state and perform color difference detection, and the color difference monitoring devices sequentially detect from right to left and complete reset;
s214, the transfer mechanism drives the workpiece 1, the workpiece 2, the workpiece 3, the workpiece 4, the workpiece 5 and the workpiece 6 to move to a blanking position, and blanking operation is sequentially performed from left to right; meanwhile, the workpiece 7, the workpiece 8, the workpiece 9, the workpiece 10, the workpiece 11 and the workpiece 12 move to a gloss detection position for performing gloss detection, and the gloss detection device sequentially detects from right to left and completes resetting;
s215, after the transfer mechanism drives the workpieces 1, 2, 3, 4, 5 and 6 to complete the blanking operation, the workpieces 7, 8, 9, 10, 11 and 12 also move to the blanking position to perform the blanking operation from right to left in sequence, and the reset is completed;
s216, the transfer mechanism drives the empty first transfer device, the empty second transfer device and the empty third transfer device to return to the transfer position, and S211-S216 are repeated.
Example 4
This embodiment mainly introduces another specific operation method of S200 in embodiment 2, which includes the following steps:
the S200 includes the steps of:
s221, sequentially loading the workpieces 1 and 2, the workpieces 3 and 4, and the workpieces 5 and 6 on the front sides of the first transfer device, the second transfer device and the third transfer device at the transfer positions by the two loading devices;
s222, sequentially moving the workpiece 1 and the workpiece 2, the workpiece 3 and the workpiece 4, and the workpiece 5 and the workpiece 6 at a color difference detection position to perform color difference detection; meanwhile, the two feeding devices sequentially feed the workpieces 7 and 8, the workpieces 9 and 10, and the workpieces 11 and 12 on the rear sides of the first transfer device, the second transfer device and the third transfer device at the transfer positions;
s223, when the workpieces 1 and 2, the workpieces 3 and 4, and the workpieces 5 and 6 sequentially move in the gloss detection device for performing gloss detection, simultaneously, the workpieces 7 and 8, the workpieces 9 and 10, and the workpieces 11 and 12 sequentially move in the color difference detection position for performing color difference detection;
s224, when the workpieces 1 and 2, 3 and 4, and 5 and 6 move in sequence at a blanking position to perform blanking, and meanwhile, the workpieces 7 and 8, 9 and 10, and 11 and 12 move in sequence at a gloss detection position to perform gloss detection;
s225, sequentially enabling the workpiece 7 and the workpiece 8, the workpiece 9 and the workpiece 10, and the workpiece 11 and the workpiece 12 to reach a blanking position and sequentially blanking; any one of the first transfer device, the second transfer device and the third transfer device finishes the blanking operation and returns to the transfer position for the loading operation.
In the process, the two feeding devices, the first transfer device, the second transfer device, the third transfer device, the color difference detection device and the gloss detection device are all in the process of continuous movement, and waiting for stopping is not needed.
In the above process, only some of the two loading devices, the first transfer device, the second transfer device, the third transfer device, the color difference detection device, and the gloss detection device may be moved.
Example 5
This embodiment mainly describes the angle compensation steps of the color difference detection device and the gloss detection device in S200 in embodiment 2:
step 1, two-dimensionally capturing points at two ends of a side workpiece by a sensor to obtain the distance between the two points, wherein the distance is a first length value;
step 2, comparing the first length value with an initial first length value in a database to obtain a deviation curve;
and 3, obtaining a first deviation function and a second deviation function according to the deviation curve, rotating the second clamping mechanism according to the first deviation function to realize angle compensation, and lifting the lifting mounting seat according to the second deviation function to realize object distance compensation.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to the above-described embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (5)

1.一种兼容多款产品的色差光泽检测装置，其特征在于，包括水平设置的工作平台，工作平台上设有，1. a color difference gloss detection device compatible with multiple products, is characterized in that, comprises the working platform set horizontally, and is provided with on the working platform, 上料机构，其包括扫码装置以及两个上料装置；所述上料装置包括上料轨道、载具以及上料驱动装置；所述载具两侧与顶部分别设有侧吸附工位以及顶吸附工位，侧吸附工位用于侧工件的上料，顶吸附工位用于顶工件的上料；The feeding mechanism includes a code scanning device and two feeding devices; the feeding device includes a feeding rail, a carrier and a feeding driving device; the two sides and the top of the carrier are respectively provided with side adsorption stations and Top adsorption station, side adsorption station is used for side workpiece loading, top adsorption station is used for top workpiece loading; 检测通道，其包括用于侧工件与顶工件运输的移载机构与架设在移载机构上方的检测机构，所述移载机构沿传输方向依次设置有移载位、色差检测位、光泽检测位、下料位；所述移载机构包括结构相同且相对设置的第一移载装置与第二移载装置，以及设在第一移载装置与第二移载装置之间的第三移载装置，所述第三移载装置对应第一移载装置与第二移载装置；The detection channel includes a transfer mechanism for the transportation of side workpieces and top workpieces, and a detection mechanism erected above the transfer mechanism. The transfer mechanism is sequentially provided with a transfer position, a color difference detection position, and a gloss detection position along the transmission direction. , the unloading level; the transfer mechanism includes a first transfer device and a second transfer device with the same structure and oppositely arranged, and a third transfer device arranged between the first transfer device and the second transfer device. a device, wherein the third transfer device corresponds to the first transfer device and the second transfer device; 所述检测机构包括前壁面与后壁面上均固定有滑轨的固定架、与滑轨滑动连接的升降安装座以及驱动升降安装座往复运动的驱动装置，每个升降安装座的升降端分别安装有色差检测装置与光泽检测装置；The detection mechanism includes a fixed frame with sliding rails fixed on both the front wall surface and the rear wall surface, a lifting mounting seat slidably connected with the sliding rail, and a driving device for driving the lifting mounting seat to reciprocate, and the lifting end of each lifting mounting seat is installed separately. There are color difference detection device and gloss detection device; 下料机构，其包括下料机械手以及若干下料传送带，下料机械手用于将侧工件与顶工件取放至下料传送带；A blanking mechanism, which includes a blanking manipulator and several blanking conveyor belts, and the blanking manipulator is used to pick and place the side workpiece and the top workpiece to the blanking conveyor belt; 所述第一移载装置包括第一移载轨道、第一移载平台以及第一移载驱动装置；所述第一移载平台上设有用于夹持吸附所述顶工件的第一夹持机构，以及用于夹持吸附所述侧工件的第二夹持机构，所述第二夹持机构位于第一夹持机构两侧；The first transfer device includes a first transfer track, a first transfer platform and a first transfer drive device; the first transfer platform is provided with a first clamp for clamping and adsorbing the top workpiece a mechanism, and a second clamping mechanism for clamping and adsorbing the side workpiece, the second clamping mechanism is located on both sides of the first clamping mechanism; 所述第一夹持机构包括第一升降机构以及第一真空吸盘，第一升降机构带动第一真空吸盘做升降运动，所述第一真空吸盘的两侧分别设有真空吸嘴，用于两个顶工件的吸附；所述第二夹持机构包括第二水平移动机构、第二旋转机构以及第二真空吸盘，第二水平移动机构带动第二旋转机构做水平往复运动，第二旋转机构带动第二真空吸盘选择性的做自转运动；The first clamping mechanism includes a first lifting mechanism and a first vacuum suction cup. The first lifting mechanism drives the first vacuum suction cup to move up and down. The two sides of the first vacuum suction cup are respectively provided with vacuum suction nozzles for two. The adsorption of a top workpiece; the second clamping mechanism includes a second horizontal moving mechanism, a second rotating mechanism and a second vacuum suction cup, the second horizontal moving mechanism drives the second rotating mechanism to perform horizontal reciprocating motion, and the second rotating mechanism drives The second vacuum suction cup selectively rotates; 所述第三移载装置包括第三移载轨道、第三移载平台以及第三移载驱动装置；所述第三移载平台的四角分别上设有所述第二夹持机构；The third transfer device includes a third transfer track, a third transfer platform and a third transfer drive device; the second clamping mechanisms are respectively provided on the four corners of the third transfer platform; 所述色差检测装置与光泽检测装置处均设有传感器，用于对产品的两端进行捕捉，并进行角度补偿调整。The chromatic aberration detection device and the gloss detection device are both provided with sensors for capturing both ends of the product and performing angle compensation adjustment. 2.如权利要求1所述的一种兼容多款产品的色差光泽检测装置，其特征在于，所述工作平台为大理石材料。2 . The color difference gloss detection device compatible with multiple products according to claim 1 , wherein the working platform is made of marble. 3 . 3.一种采用如权利要求1所述的兼容多款产品的色差光泽检测装置的操作方法，其特征在于，包括以下步骤，3. A method of using the color difference gloss detection device compatible with multiple products as claimed in claim 1, characterized in that, comprising the following steps: S100、扫码装置对顶/侧工件进行扫码操作，进行信息读取与绑定；再将绑定后的顶/侧工件送至上料装置；S100, the scanning device scans the code for the top/side workpiece, reads and binds the information; and then sends the bound top/side workpiece to the feeding device; S200、上料机构于移载位将顶/侧工件送至移载机构；移载机构带动顶/侧工件运动至色差检测位与光泽检测位，色差检测装置与光泽检测装置分别对其进行检测并将检测数据上传至控制系统，控制系统根据数据库内的等级筛分信息对检测后的顶/侧工件进行筛分；移载机构再带动顶/侧工件运动至下料位；S200, the feeding mechanism sends the top/side workpiece to the transfer mechanism at the shifting position; the transfer mechanism drives the top/side workpiece to move to the color difference detection position and the gloss detection position, and the color difference detection device and the gloss detection device respectively detect them Upload the detection data to the control system, and the control system sieves the detected top/side workpieces according to the grade screening information in the database; the transfer mechanism drives the top/side workpieces to move to the unloading position; S300、下料机械手根据控制系统的筛分结果将顶/侧工件送至对应的下料传送带。S300, the unloading manipulator sends the top/side workpieces to the corresponding unloading conveyor belt according to the screening results of the control system. 4.如权利要求3所述的一种兼容多款产品的色差光泽检测装置的操作方法，其特征在于，所述S200包括以下步骤：4. The operation method of a color difference gloss detection device compatible with multiple products as claimed in claim 3, wherein the S200 comprises the following steps: S211、两个上料装置于移载位同时对第一移载装置、第二移载装置以及第三移载装置前侧进行上料操作；S211, the two feeding devices perform feeding operations on the front sides of the first transferring device, the second transferring device and the third transferring device at the same time at the shifting position; S212、移载机构带动第一移载装置、第二移载装置以及第三移载装置前侧运动至色差检测位进行色差检测；同时两个上料装置于移载位同时对第一移载装置、第二移载装置以及第三移载装置后侧进行上料操作；S212, the transfer mechanism drives the first transfer device, the second transfer device, and the front side of the third transfer device to move to the color difference detection position for color difference detection; at the same time, the two loading devices simultaneously perform color difference detection on the first transfer device at the transfer position. The rear side of the device, the second transfer device and the third transfer device perform the feeding operation; S213、移载机构带动第一移载装置、第二移载装置以及第三移载装置前侧运动至光泽检测位进行光泽检测；同时第一移载装置、第二移载装置以及第三移载装置后侧运动至色差检测为并进行色差检测；S213, the transfer mechanism drives the first transfer device, the second transfer device, and the front side of the third transfer device to move to the gloss detection position for gloss detection; at the same time, the first transfer device, the second transfer device, and the third transfer device The rear side of the carrier device moves to the color difference detection and performs color difference detection; S214、移载机构带动第一移载装置、第二移载装置以及第三移载装置前侧运动至下料位进行下料操作；同时第一移载装置、第二移载装置以及第三移载装置后侧运动至光泽检测位进行光泽检测；S214, the transfer mechanism drives the first transfer device, the second transfer device, and the front side of the third transfer device to move to the unloading position to perform the unloading operation; at the same time, the first transfer device, the second transfer device, and the third transfer device The rear side of the transfer device moves to the gloss detection position for gloss detection; S215、移载机构带动第一移载装置、第二移载装置以及第三移载装置前侧完成下料操作后，第一移载装置、第二移载装置以及第三移载装置后侧也运动至下料位进行下料操作；S215. After the transfer mechanism drives the first transfer device, the second transfer device, and the front side of the third transfer device to complete the unloading operation, the rear side of the first transfer device, the second transfer device, and the third transfer device It also moves to the unloading position for unloading operation; S216、移载机构带动第一移载装置、第二移载装置以及第三移载装置回到移载位，并重复S211-S216。S216, the transfer mechanism drives the first transfer device, the second transfer device, and the third transfer device back to the transfer position, and repeats S211-S216. 5.如权利要求3所述的一种兼容多款产品的色差光泽检测装置的操作方法，所述S200包括以下步骤：5. The operation method of a color difference gloss detection device compatible with multiple products as claimed in claim 3, the S200 comprises the following steps: S221、两个上料装置于移载位依次对第一移载装置、第二移载装置和第三移载装置的前侧、以及第一移载装置、第二移载装置和第三移载装置的后侧进行上料操作；S221, the two feeding devices are in the shifting position sequentially to the front side of the first shifting device, the second shifting device and the third shifting device, as well as the first shifting device, the second shifting device and the third shifting device The rear side of the loading device performs the feeding operation; S222、第一移载装置、第二移载装置以及第三移载装置依次进行运动；所述色差检测装置依次对第一移载装置、第二移载装置和第三移载装置的前侧进行色差检测；S222, the first transfer device, the second transfer device, and the third transfer device move in sequence; the color difference detection device sequentially monitors the front sides of the first transfer device, the second transfer device, and the third transfer device Perform color difference detection; S223、当所述光泽检测装置依次对第一移载装置、第二移载装置和第三移载装置的前侧进行光泽检测时，所述色差检测装置依次对第一移载装置、第二移载装置和第三移载装置的后侧进行色差检测；S223. When the gloss detection device performs gloss detection on the front sides of the first transfer device, the second transfer device, and the third transfer device in sequence, the color difference detection device sequentially detects the first transfer device, the second transfer device, and the front side of the third transfer device. Color difference detection is performed on the rear side of the transfer device and the third transfer device; S224、当第一移载装置、第二移载装置和第三移载装置的前侧依次到达下料位进行下料时，所述光泽检测装置依次对第一移载装置、第二移载装置和第三移载装置的后侧进行光泽检测；S224. When the front sides of the first transfer device, the second transfer device, and the third transfer device reach the unloading position in sequence for unloading, the gloss detection device sequentially checks the first transfer device, the second transfer device, and the second transfer device. Gloss detection on the rear side of the device and the third transfer device; S225、第一移载装置、第二移载装置和第三移载装置的后侧依次到达下料位并进行依次下料；第一移载装置、第二移载装置和第三移载装置一完成下料操作，便回到移载位进行上料操作。S225, the rear side of the first transfer device, the second transfer device and the third transfer device reach the unloading position in turn and perform sequential unloading; the first transfer device, the second transfer device and the third transfer device Once the unloading operation is completed, it will return to the transfer position for the loading operation.
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